A Mobile Device to Launch a Golf Ball Pneumatically and Play Golf [Robogolfer]

ABSTRACT

This invention discloses a mobile device similar to a golf-club-bag pull cart that transports a golf-ball pneumatic launcher [Robogolfer]. The launcher propels a golf ball in a manner similar to striking it with a golf club. Robogolfer allows an individual unskilled or physically handicapped in swinging a golf club to play golf. The operator positions the device where a golf shot is desired and points the barrel in the direction of the shot. The trajectory and distance of the golf shot is controlled by the angle of loft and pneumatic pressure of the golf-ball launcher. Pressurized gas is instantaneously released into the barrel of the launcher by a dump valve, thus propelling the golf ball forward on the golf course. Since skill is required in selecting the direction, loft, and distance for each golf shot launched, individuals can use Robogolfer to play golf competitively on a standard golf course.

BACKGROUND OF INVENTION

Golf is an exceedingly popular sport internationally. It provides players healthy exercise and the pleasure of competition and skill enhancement. Participation in the sport of golf requires special skills on the part of the player. Because considerable time and money is necessary to acquire these skills the opportunity to play golf is not available to most individuals. Also, certain handicapped individuals are prohibited from playing conventional golf. The present invention provides an individual unskilled or handicapped in swinging a golf club an opportunity to play golf on a conventional golf course.

Robotics have been applied to golf for a variety of purposes. Davies et al. [U.S. Pat. Nos. 5,711,388; 5,944,132] and Romy [DE19941807] describe an autonomous personal service robotic golf caddy. Toru [JP32446] describes a robotic caddy that in addition to transporting the golfer's clubs displays useful information for the golfer. Commercial versions of robotic golf caddies are available that follow the golfer around the course (Shedda Robotic Electric Golf Caddy/Cart (Gettig Engineering and Manufacturing Company, Spring Mills, Pa.). A hands-free golf-ball teeing device has been patented by Bacon [U.S. Pat. No. 5,743,804]. Andreae, Jr. et al. have patented a power assisted adapter for pull-type golf club bag carrying carts [U.S. Pat. No. 6,276,470 B1].

A variety of patents relating to robotic control of a golf-club swing have been issued [Hiroshi et al., JP2001190729; Akio et al., JP2002224246; Hamilton, U.S. Pat. No. 6,569,030; Kamato, JP6210038]. Golf club manufacturers utilize robots to test their equipment. Kun-Lin Chien describes a golf bombarding testing machine that propels golf balls toward a club to test club durability [U.S. Pat. Nos. 5,497,650; 6,415,1671 B1]. Commercial versions of ball cannon robotics are available to propel golf balls at precise points on the golf clubface testing the dimensional stability of the club. Loft, lie, and swinging robots are also available commercially to test clubs and golf balls [Burrows Golf, Inc., Valencia, Calif. 91355].

Robotics departments at universities have challenged students to develop a variety of robotic devices in their laboratories that play golf. These devices have generally been constructed out of LEGO components and operate only in a small area. Besson [FR2689409] and Rowland [U.S. Pat. No. 5,393,058] have patented miniaturized robotic golf games. Plattsburgh University challenges students to build a robotic golf ball locater and retriever for the visually impaired. The University of Texas asks students to build an autonomous robot capable of playing robo-golf over a 4 by 6 foot playing area. MIT challenges its students to build autonomous robots that can place golf balls in holes on a pre-designed table. Robotics Trade Organization which represents over 50 robotics manufacturers in the United States has challenged their membership to build a robot that can play golf autonomously on a conventional golf course. They have set down a number of criteria including the requirement that the robot swing a conventional golf club. Robots by Design (Louisville, Ky.) has modified one of its robots to swing an iron and hit a golf ball. The estimated cost of this robot is $250,000.

Handicapped golf has been played in the United Kingdom since World War I and more recently in the United States organizations have been formed to assist physically handicapped individuals play golf. The focus of these organizations has been to assist amputees swing a golf club. None of the previous art allows a severely handicapped person unskilled or unable to swinging a golf club to play on a golf course in a competitive manner.

Pneumatic launching devices (paint ball guns and air cannons) have been used to propel a variety of missiles including paint balls, potato plugs, T-shirts, and golf balls. All these devices have basic similarities in that pressurized gas is abruptly released by means of a valve into a barrel where it propels objects out of the barrel at different velocities and distances. A variety of patents have been issued covering pneumatic-gun devices to propel balls [U.S. patents: Fujimoto, U.S. Pat. No. 6,561,176 B1; Juan, U.S. Pat. No. 6,302,092 B2; Gardner, Jr., U.S. Pat. No. 5,881,707; Lotuaco, III, U.S. Pat. No. 5,878,736; Lucus, U.S. Pat. No. 5,613,483; Williams, U.S. Pat. No. 5,572,982; Kotsiooulos, U.S. Pat. No. 5,280,778; Henderson, U.S. Pat. No. 3,662,729]. Simpler air cannons have been developed that do not have bolt actions like a gun. Among these are Spudguns that can launch potato plugs, tennis balls, and T-shirts by releasing compressed gas (air, carbon dioxide, nitrogen) abruptly by the activation of a quick-release dump valve into a barrel containing the projectile. Pneumatic devices have been described for launching golf balls to strike golf clubs in order to test their integrity [U.S. Pat. Nos. 5,497,650; 6,415,671 B1].

None of the present art describes a method of launching a golf ball pneumatically in a manner similar to striking it with a golf club where the direction, loft, and distance traveled by the ball is controlled by the operator. Such a device would enable a large population of individuals presently unable to play golf to participate in this popular sport.

SUMMARY OF INVENTION

This invention provides a means for individuals unskilled or handicapped in swinging a golf club to play golf on a conventional golf course. The mobile golf-ball launching device, Robogolfer 1, in this invention allows an individual to simulate a conventional golf shot by controlling the direction, loft, and distance of the golf ball when it is launched. The golf-ball launcher (FIG. 2) is attached to a transport means 42 (FIGS. 8,9,10,11) similar to a golf-club bag pull cart that allows the golf-ball launcher (FIG. 2) to be moved to appropriate places on the golf course where a golf shot can be executed. Attached to the transport means 42 is a cylindrical casing 3,5 (FIGS. 4,5) similar to a golf bag that houses the components of the golf-ball launcher (FIG. 2) consisting of the accumulator 13, compressor 7 with a rechargeable battery 7′, dump valve 19, and dump valve actuator 21. The cylindrical casing 3,5 besides containing the golf ball launcher (FIG. 2) can also be used to transport golf clubs, golf balls, and other golf accessories. Mounted on an upper cart frame member 43 of the transport means 42 is a display screen 47 that holds the compressor on/off switch 51, digital pressure readout 49 from accumulator pressure sensor 13, ball-launch button 55, and inclinometer readout 53. If needed the transport means can be attached to a golf cart or wheelchair and moved to a position where a golf shot can be made by a handicapped person.

In accordance with another aspect of the invention, the transport means 42 has an adjustable loft means (FIGS. 16A and 16B) at the rear that allows the selection of a desired loft angle for launching the golf ball and provides stability to the launching means (FIG. 2) during the execution of a golf shot.

In accordance with another aspect of the invention, a pneumatic golf-ball launcher (FIG. 2) is attached in a casing 3,5 (FIGS. 4,5) to the transport means 42 in such a manner that it can be used to launch a golf ball B in varying directions, at varying distances, and lofts. The direction and loft of the golf shot can be controlled by pointing the barrel 29 of the golf ball launcher in the desired direction and tilting the Robogolfer 1 backwards at varying angles utilizing the adjustable loft means (FIGS. 16A, 16B) in the rear. A degree of loft can be selected by the operator through individual judgment or by observing readings on an attached inclinometer 53. The distance of the shot can be controlled by adjusting the pressure in the accumulator 13 as determined by the accumulator pressure sensor 15 attached to the accumulator 13 with a digital readout 49 on the display screen 47.

In accordance with another aspect of the invention, Robogolfer 1 is equipped with a rapid-release dump valve 19, pneumatically or electronically activated, by an actuator valve 21 that can instantaneously release pressurized gas into the air release channel 25 propelling the golf ball B out through the breech 27 and barrel 29. Such action allows a golf ball B to be propelled from the launcher barrel at a rapid velocity and for a considerable distance. In the preferred embodiment of this invention golf balls can be launched over 300 yards. The dump valve 19 can consist of one of several configurations known to the art such as a piston valve or diaphragm valve. The preferred valve for this invention is a piston valve activated by an actuating valve.

By utilizing the transport means 42, adjustable loft means (FIGS. 16A,16B), golf-ball launching means (FIG. 2), and distance control means 15, 51 of Robogolfer 1 an individual unskilled or handicapped in swinging a golf club can launch a golf ball in a desired direction, loft, and distance and play golf competitively on a conventional golf course.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1. Perspective view of golf-ball launching means and transportation means [Robogolfer].

FIG. 2. Side view/fragment section of golf-ball launching means.

FIG. 3. Top view of golf-ball launching means.

FIG. 4. Front view of casing containing golf-ball launching means.

FIG. 5. Rear view of casing containing golf-ball launching means.

FIG. 6. View along line 6-6 of FIG. 4 which shows front view of casing containing golf-ball launching means where barrel is attached.

FIG. 7. Sectional view of barrel connection to golf-ball launching means.

FIG. 8. Front view of transport means and adjustable loft means.

FIG. 9. Side view of transport means and adjustable loft means.

FIG. 10. Rear view of transport means and adjustable loft means.

FIG. 11. Top view of transport means and adjustable loft means.

FIG. 12. Section along line 11-11 of FIG. 9 which shows side view of transport means and adjustable loft means.

FIG. 13. Section along line 12-12 of FIG. 10 which shows rear view of transport means and adjustable loft means.

FIG. 14. Section along line 13-13 of FIG. 9 which shows side view of transport means and adjustable loft means.

FIGS. 15A and 15B. Section along line 15-15 of FIG. 13 which is a section along line 12-12 of FIG. 10 showing rear view of transport means and adjustable loft means.

FIGS. 16A and 16B. View illustrating minimum and maximum launch angle for the golf-ball launching means utilizing adjustable loft means.

DETAILED DESCRIPTION

The objective of this invention is to allow an individual unskilled or handicapped in swinging a golf club to launch a golf ball in a manner similar to striking it with a club and play golf on a conventional golf course. In order to realize this objective a mobile device has been invented consisting of a transport means 42 (FIGS. 8,9,10,11), a golf-ball launching means (FIG. 2), a golf-ball adjustable loft means (FIGS. 12,13,14,15A,15B,16A,16B), and a distance control means 15,49,51. Special skill is needed in the operation of these various means which affords the opportunity for competition among individuals utilizing this invention. Once an individual's ball has reached the proximity of the golf green utilizing Robogolfer 1 a conventional golf club such as a wedge or putter can be used to finish the hole.

The Robogolfer 1 transport means 42 (FIGS. 8,9,10,11) provides a way to move the golf-ball launcher of Robogolfer to various sites on a golf course where a golf shot can be executed. Robogolfer has wheels 107 and an axel 101 for transportation and an adjustable loft means (FIGS. 12,13,14,15A,15B,16A,16B) that helps adjust the loft and direction of the golf shot and stabilizes Robogolfer 1 during a golf shot. The Robogolfer transport means (FIGS. 8,9,10,11) is similar to a golf-bag pull cart to which a casement 3,5 is attached to an upper 57 and lower 119 frame member. The casement 3,5 houses the golf-ball launcher which consists of an accumulator 13, compressor 7 with a removable/rechargeable battery pack 7′. The compressor 7 is connected 11 to the accumulator 13 which has a dump valve 19 that regulates the discharge of compressed gas from the accumulator 13 into the air release channel 25. An actuating valve 21 is connected to the dump valve 19. The Robogolfer transport means also has a display screen 47 (FIG. 11) attached to the handle 45 that contains the compressor on/off button 51, golf-ball launching button 55, digital inclinometer readout 53, digital pressure readout 49, and adjustment knob set screw 61. Wires from the actuating valve for the dump valve 23, pressure sensor on the accumulator 17, and compressor 9 run to an electrical connector 35 in the casement 5 which connects to the ball-launch button 55, compressor on/off switch 51, and digital pressure readout 49 on the display screen 47.

The golf-ball launching means (FIG. 2) of Robogolfer can consist of any of a variety of pneumatic gun or launcher configurations known to the art to propel solid objects [eg. air cannons and paint ball guns]. The preferred configuration of the golf-ball launching means (FIG. 2) consists of an accumulator 13 connected 11 to a removable/rechargeable battery pack 7′ powered compressor 7. A rapid-release dump valve 19 separates the compressed air generated by the compressor 7 in the accumulator from the barrel 29 of the launcher. Connected to the dump valve 19 is an actuating valve 21 that releases pressurized gas and activates the dump valve 19. When a small volume of pressurized gas is released by the actuating valve 21 the piston in the dump valve 19 moves rapidly to the rear releasing the seal between the dump valve 19 and air release channel 25 allowing the pressurized gas in the accumulator 13 to be rapidly expelled out the barrel 29 thus propelling the golf ball B out the end of the barrel. The launcher barrel 29 which has an inside diameter (ID) that is machined to just accommodate the diameter (1.68 inches) of a golf ball B is designed so that it can be detached and inserted in a barrel storage clamp 33 during transportation. The barrel can be removed from the barrel storage clamp 33 and installed to the launching means by a barrel quick connect 31 (FIG. 7) that involves the insertion and removal of a locking pin 30 at the base of the barrel 29 into a locking groove 37, 37′ and turning the barrel clockwise. An O-ring 39 seals the barrel to the breech chamber 27.

The Robogolfer transport means 42 has an adjustable loft means that allows the operator to precisely set Robogolfer 1 to simulate the loft of various golf shots (FIGS. 16A,16B). As seen in FIGS. 15A,15B this is accomplished by moving a launch angle adjustable block 59 along an angle adjustment screw shaft 63 and two guide rails 73 at the back of the transport means 42. Movement of the launch angle adjustable block 59 along these three members can be accomplished by pulling back the T-handle 77 which disengages the rack 79 from the threads on the screw shaft 63 allowing the operator to move the adjustment block 59 up or down the screw shaft 63. Such movement allows the operator to set adjustable loft means at a desired loft for a golf shot (FIGS. 16A,16B). Once the T-handle 77 is released and the rack 79 is reengaged, a fine adjustment for the loft angle can be made using the angle adjustment knob 61 and adjustment knob set screw 61′.

The Robogolfer transport means 42 is constructed to facilitate movement of Robogolfer 1 and provide the proper loft for a golf shot, as well as, provide stability during the shot. To accomplish these goals the transport means 42 consists of an upper frame member 43 and lower transporter frame member 119 to which two parallel guide rails 73 are attached. Between the guide rails 73 there is an angle adjustment screw shaft 63 which is attached to the upper transport frame member 43 and lower transport frame member 87. Movement of the launch angle adjustment member upward causes the movement of the Robogolfer wheels 107 backward subsequently increasing the angle of loft of the Robogolfer barrel (FIGS. 16A,16B). Two upper struts 111 are attached to the upper strut attachment ears 109 by means of a pin 113 and run to the launch angle adjustment member 59. Lower struts 101 run from the upper strut attachment ear 109 to the lower cart frame member 87. At the base of the lower transport frame member 119 is a pivoting flange 121 that penetrates the turf and anchors Robogolfer 1 during the alignment and execution of a golf shot.

FIG. 12 shows in detail the attachment of the angle adjustment shaft 63 and guide rails 73 to the upper transport frame member 43 of Robogolfer. The bore 71 of the upper transport frame member 43 has a bearing 67 at its top and bottom through which the upper shaft section 65 passes. Washers 69, 69 are placed on both ends of the upper shaft section. A key way 65′ is between the fine adjustment knob 61 and fine adjustment knob set screw 61′. Set screws 75 hold the two guide rails 73 in place.

FIG. 13 shows a cross section of the launch angle adjustment member 59 at a point where the upper struts are attached with pins 117 and the T-handle attached to the adjusting rack 79 which is engaged with the angle adjustment screw shaft 63. A spring 81 inside the bearing surface 85 keeps the adjusting rack 79 engaged. FIG. 15A shows the adjusting rack 79 engaged with the angle adjustment screw shaft 63 and the T-handle 77, bore 80, adjusting rack 79, bearing surface 83,85, spring 81, and launch angle adjustment member 59. FIG. 15B shows the adjusting rack 79 disengaged from the angle adjustment screw shaft 63.

FIG. 14 shows the lower attachment of the angle adjustment screw shaft 63 of the adjustable alignment means on the transport means 82 of Robogolfer. The angle adjustment screw shaft 63 passes through the bore 71 of the lower transport frame member 87 which has a bearing 91 at both ends. Washers 93, 93′ are placed on both sides of the bore hole. The guide rails 73 are held in place with set screws 97 in the lower transport frame member 87. The lower strut 101 forms an upper strut attachment ear 109, 115 in which the upper strut 111 is attached with a pin 113.

Pneumatic launching devices for solid projectiles can use blow forward or blow back technology. Blow forward designs do not use any hammers or bolts instead the gas that propels the projectile is fed directly into a chamber with the piston. When the launcher is fired the piston is released and the gas pressure pushes the projectile forward in one stroke. When the piston reaches the end of its travel, a spring pushes it back for another shot. Blow back technology uses a hammer or bolt that strikes against a valve. The valve releases two jets of gas. One jet blows down the barrel, propelling the object, while the other pushes the bolt back, re-cocking the launcher for the next shot.

A preferred embodiment of this invention (FIG. 2) utilizes blow forward pneumatics. Execution of a golf shot by Robogolfer 1 is performed in the following manner. The transport means is used to position Robogolfer 1 where a golf shot is desired. The golf ball B is inserted into the breech 27 against the ball rest 41. The barrel 29 is removed from the barrel storage clamp 33 and attached to the barrel quick connect 31 by inserting the locking pin 30 at the base of the barrel 29 into the locking groove 37,37′ and turning it clockwise until the barrel 29 is securely attached. Holding the handle 45 of the transport means 42 the barrel 29 of the launching means (FIG. 2) is pointed in the direction of the desired shot and the pivoting flange 121 is inserted into the turf to stabilize the alignment of the shot. A desired loft for the golf shot is selected by pulling back on the T-handle 77 on the launch angle adjustment member 59 and sliding it along the guide rails 73 and angle adjust screw shaft 63 until a desired angle of loft is obtained. The selected loft of the golf shot can be determined by utilizing the judgment of the operator or as determined by an inclinometer reading 53. When a desired angle of loft is obtained by moving the launch angle adjustment member 59, the T-handle 77 is released causing the adjusting rack 79 to reengage the angle adjustment screw shaft 63. Then the angle of loft can be more finely adjusted by turning the fine adjustment knob 61 and fine adjust knob set screw 61′. To control the distance the golf ball will travel, the compressor button 51 on the upper cart frame member 43 is turned on. The pressure in the accumulator 13 is observed on the pressure digital readout 49 and when the desired pressure is reached the compressor button 51 is turned off. With the loft and pressure selected the ball-launch switch 55 on the upper cart frame member 43 is pressed which fires the golf shot. Following the golf shot, the barrel 29 is detached utilizing the barrel quick connect 31 and the barrel is placed in the barrel storage clamp 33. The Robogolfer adjustable loft means is returned to its original transport position (FIG. 16A) by pulling back on the T-handle and moving the launch angle adjustment member 59 and then releasing the T-handle 77. Robogolfer 1 is now ready to be transported to the next location where a golf shot is desired. It can be moved from one location to another in a manner similar to a golf-bag pull cart by pulling on the handle 45 and tilting it back on its wheels 107. Once the new location has been reached the same procedures are followed for the next golf shot. Robogolfer can be pulled from one location to another by its transport means 42 or placed on a golf cart and moved to the next desired position. Robogolfer can be attached to a motorized golf cart or wheelchair that can move both Robogolfer 1 and a handicapped person to the position where a golf shot is desired.

The ball-launch switch 55 for Robogolfer can be either electronically, mechanically, or pneumatically activated. The ball-launch switch 55 activates the actuating valve 21 which releases a small volume of pressurized gas behind the piston in the dump valve 19 causing it to move rapidly backward opening the seal between the dump valve 19 and the air release channel 25. Consequently, the pressurized gas (air, carbon dioxide, nitrogen) in the accumulator 13 is rapidly dumped into the barrel 29 and propels the golf ball B out the barrel end. Following the shot the piston in the dump valve 19 is repositioned into its original position either by a spring or pneumatic force.

A manufacturer of Robogolfer can recommend predetermined lofts and pressures for making various golf shots. Operators of Robogolfer can also apply their own skills in selecting the proper direction, loft, and distance in executing a golf shot.

This invention does not exclude the use of mechanical rather than pneumatic force to propel the golf ball by the launching means. It is within the scope of this invention to automate, motorize, and computerize its launching means, transport means, alignment and loft control means, and velocity and distance control means. This invention also includes the adaptation of Robogolfer for games other than golf and target shooting, Robogolfer can be used to comparatively test golf balls. It is understood that new rules may be necessary for playing golf utilizing Robogolfer on a conventional golf course. 

1. A mobile golf-ball launching device comprising a wheeled transport means that can move the components of the golf ball launcher over ground and a golf course; a means of launching a golf ball pneumatically attached to the transport means; a means of stabilizing and adjusting the loft angle the golf ball is launched; a means to control the amount of pneumatic force used to propel the golf ball and control the velocity and distance of the launch; and a means of setting the direction that the golf ball will be launched.
 2. A mobile golf-ball launching device as set forth in claim 1 wherein the means of transportation over ground is a wheeled device similar to a golf-bag pull cart.
 3. A mobile golf-ball launching device as set forth in claim 1 wherein the means of launching a golf ball is a pneumatic launcher that releases pressurized gas by means of a quick-release dump valve into a barrel containing a golf ball.
 4. A transport means as set forth in claim 2 in which the loft is adjusted to a desired angle by a movable structure on the transport means.
 5. A pressure control means as set forth in claim 1 in which the pressure released by a golf-ball launcher when a golf shot is made is regulated by a pressure sensor on the accumulator and an on/off switch on a compressor. 